Rotary Tool and Retractable Foot for Walking Robot
TBMG-7275
11/01/2002
- Content
A mechanism has been developed to serve as an end effector for one of the legs of the Legged Excursion Mechanical Utility Robot (LEMUR) — a walking robot designed for demon- strating robotic cap- abilities for maintenance and repair. [The LEMUR was described in “Six-Legged Experimental Robot” (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58.] Through controlled actuation of this mechanism, the tip of the leg can become either (1) a foot for stable support during walking or (2) the robotic equivalent of a simple hand tool — a ballend hexagonal driver for a standard hexagonal-socket machine screw. More specifically, the foot can be extended to enable walking, or can be retracted to enable cameras that are parts of the robot to view the insertion of the tool bit in a socket. Retraction of the foot also enables the tool to be used in confined spaces in which the foot cannot fit.
- Citation
- "Rotary Tool and Retractable Foot for Walking Robot," Mobility Engineering, November 1, 2002.